yezhong yezhong / yezhong_main_controller_copy

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Dependencies:   mcp2515 mbed-dev-f303

Diff: MODE/mode.cpp

Revision:
4:2503c88a564f
Parent:
0:d80c66cb1b3a
diff -r 940a9e40d327 -r 2503c88a564f MODE/mode.cpp
--- a/MODE/mode.cpp	Wed Jun 30 12:15:37 2021 +0000
+++ b/MODE/mode.cpp	Tue Jan 11 02:19:55 2022 +0000
@@ -43,3 +43,27 @@
     msg->data[7] = 0xFD;
     WriteAll();
 }
+// 进入速度模式
+void EnterSPEEDMode(CANMessage * msg){
+    msg->data[0] = 0xFF;
+    msg->data[1] = 0xFF;
+    msg->data[2] = 0xFF;
+    msg->data[3] = 0xFF;
+    msg->data[4] = 0xFF;
+    msg->data[5] = 0xFF;
+    msg->data[6] = 0xFF;
+    msg->data[7] = 0xFA;
+    WriteAll();
+}
+// 进入位置模式
+void EnterPositionMode(CANMessage * msg){
+    msg->data[0] = 0xFF;
+    msg->data[1] = 0xFF;
+    msg->data[2] = 0xFF;
+    msg->data[3] = 0xFF;
+    msg->data[4] = 0xFF;
+    msg->data[5] = 0xFF;
+    msg->data[6] = 0xFF;
+    msg->data[7] = 0xFB;
+    WriteAll();
+}